Combined linear and non-linear controller design for motor position regulation

• Published in: Electronics letters Vol. 54; no. 5; pp. 288 - 289
• Main Author: Cheng, Guoqing
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 08.03.2018
• Subjects: composite robust controller; Control engineering; control saturation; control system synthesis; linear controller design; linear servo control law; linear systems; machine control; motor position regulation; motor servo systems; nonlinear control; nonlinear control systems; nonlinear controller design; observers; permanent magnet motors; permanent magnet synchronous motor; position control; reduced order systems; robust control; servomotors; synchronous motors; unknown disturbance; unmeasurable state; machine control; motor position regulation; nonlinear control; linear servo control law; linear controller design; nonlinear controller design; motor servo systems; control system synthesis; linear systems; composite robust controller; synchronous motors; unmeasurable state; nonlinear control systems; servomotors; permanent magnet synchronous motor; robust control; reduced order systems; position control; control saturation; permanent magnet motors; observers; unknown disturbance
• ISSN: 0013-5194; 1350-911X; 1350-911X
• DOI: 10.1049/el.2017.4814

A composite robust controller is proposed for typical motor servo systems subject to control saturation and unknown disturbance. The controller contains a linear servo control law which achieves a fast response, and a non-linear control part to suppress the overshoot. The unknown disturbance is assumed to have a constant rate of change, and is treated as an extended state of the system. A reduced-order observer is then designed to estimate the unmeasurable state and disturbance for control and compensation. The controller is applied to a permanent magnet synchronous motor for position regulation, and digital simulation and experimental test are conducted to verify the superior performance and robustness of the design.